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EP1491287B1 - Selbstzentrierende erfassungsvorrichtung - Google Patents

Selbstzentrierende erfassungsvorrichtung Download PDF

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Publication number
EP1491287B1
EP1491287B1 EP03743888A EP03743888A EP1491287B1 EP 1491287 B1 EP1491287 B1 EP 1491287B1 EP 03743888 A EP03743888 A EP 03743888A EP 03743888 A EP03743888 A EP 03743888A EP 1491287 B1 EP1491287 B1 EP 1491287B1
Authority
EP
European Patent Office
Prior art keywords
sensing device
centring
self
rods
positions
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP03743888A
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English (en)
French (fr)
Other versions
EP1491287A1 (de
Inventor
Eugen Universidad De Zaragoza TRAPET
Juan J. Universidad de Zaragoza AGUILAR MARTIN
Henny SPAAN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
IBS Precision Engineering BV
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IBS Precision Engineering BV
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Filing date
Publication date
Application filed by IBS Precision Engineering BV filed Critical IBS Precision Engineering BV
Priority to EP09151334A priority Critical patent/EP2050534B1/de
Publication of EP1491287A1 publication Critical patent/EP1491287A1/de
Application granted granted Critical
Publication of EP1491287B1 publication Critical patent/EP1491287B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/042—Calibration or calibration artifacts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points

Definitions

  • the invention relates to a three-dimensional self-centring sensing device, based on a parallel kinematics design, for analysing relative movement errors among machine components, using spheres, and for analysing positioning errors of machines in comparison to sphere reference objects.
  • the German Offenlegungsschrift DE 199 44 429 describes a device for obtaining correction parameters for tool coordinates of CNC-controlled production machines, including a measuring head with a measuring sphere that can be placed in the tool holder of the production machine.
  • the device also includes a measurement-head to be coupled with the machine table, machine bed or the like, which measuring head has three linear displaceable tentacles for contacting the measuring sphere.
  • the measuring tentacles as disclosed are oriented in different directions and are each displaceable in longitudinal direction to realise length variations of the measuring tentacles that provide thus three measuring signals.
  • the construction of the holder of the three tentacles is less suited; the accuracy of the measurements with the disclosed device is limited.
  • the device disclosed in DE 199 44 429 is different from the invention, as the invention relates to a device for analysing relative movement errors among components of the machine itself.
  • TM positioning error tests with reference objects is that the tool is replaced by a sensing device, the tool machine (TM) is programmed to move the axles to defined positions thus placing the sensing device in contact with the reference spheres or other reference elements in the reference object (this document deals only with reference spheres).
  • CMs coordinate measuring machines
  • CMs coordinate measuring machines
  • sensing device that indicated deviation in X, Y, Z simultaneously, for each programmed position in which the sensing device is in contact with a reference sphere in a reference object like a bar of balls.
  • This type of sensing device enables obtaining, at the same time, the position error in three coordinates when the TM with this sensing device is placed over a reference sphere of a bar of balls or the equivalent.
  • the positions programmed should correspond to the true (calibrated) positions of the centres of the reference spheres of the bar of balls; if they do not correspond, deviations from the programmed values to the calibrated values must be taken into account.
  • Sensing devices for CMs allow assembling self-centring sensing device tips in the form of three balls or a cone carried by linear movable rods.
  • the self-centring sensing device system is open to simplification and being made more suitable for the task of self-centring in reference spheres with positions relatively far from the self-centring sensing device positions.
  • a new and inventive self-centring sensing device according to claim 1 is provided. In this case stable measurement is taken directly on the surface of the reference sphere by the at least three systems of one-dimensional measuring systems that make up the three-dimensional self-centring sensing device.
  • the self-centring sensing device is providing correct measurements without dictating rigidly the direction of approaching the sphere reference objects; also approaching a sphere reference object along an approaching path that is not directed to the centre of a sphere reference object the self centring device according the invention is able to compensate such an approach.
  • the self-centring sensing device contains the following components:
  • German Offenlegungsschrift DE 100 18 214 describes a device for measuring machines, having a ground-body with one or a plurality of measurement devices on it, lacking the feature of having at least three rods able to move independently in different directions.
  • German Offenlegungsschrift DE 195 01 094 describes a device and method for calibrating of movement-devices, making use of at least one measurement-sphere, and at least one distance-sensor. Several measurements from various angles have to be made with the at least one distance-sensor.
  • the said model depends on the way in which the self-centring sensing device is made and it depends on the precision that one wishes to obtain (more parameters may be necessary if a greater degree of accuracy is required):
  • the invention offers the following three alternatives in order to obtain a high degree of accuracy of the values of the parameters of the model:
  • Measurement is taken of the orientation of the linear movable rods (11), the orientations of the tips of the sensing device (12) and the X, Y, Z coordinates of the point of intersection of the rod axle with the plane of contact of the sensing device tip.
  • Measurement is also taken of the centre of the sensing device tip (12) and its diameter (all the tips of the sensing device should be of the same diameter).
  • Another alternative for measuring the parameters of the model of the sensing device is to directly establish the relationship between the positions of the tips of the sensing device and the values indicated by the sensors, generating a correspondence table. This is done with a CM. The correspondence table is inserted when the self-centring sensing device is used to perform real measuring.
  • the second alternative according to the invention is to move the sensing device with a specific CM or TM over a number of known positions, while the tips of the sensing device are in contact with a reference sphere.
  • the values indicated by the sensors and the positions of the self-centring sensing device are recorded.
  • This method also enables checking a self-centring sensing device, calibrated in advance.
  • a programme of better parameter adjustment type is used, for example, according to the method of squared minimums (Gauss method) or a programme of better parameter adjustment according to the Simplex method.
  • the third alternative is to substitute the CM in the above variant by a calibration tool with reference spheres in known positions.
  • the said tool With the self centring sensing device maintaining its position or always placed in the same position, the said tool is put into contact with the self-centring sensing device, performing a number of reference sphere positions with the tool. The true positions of the reference spheres and the indications of the sensors are recorded. Procedure as per the previous alternative.
  • Figure 2 illustrates the working principle and figure 3 the three-dimensional self-centring sensing device with the three linear movable rods (11) connected to the truncated cone-shaped body.
  • This paragraph deals with a self-centring sensing device that comprises three linearly movable cylindrical rods (11) connected to a truncated cone-shaped body, with one flat sensing tip (12) and one linear displacement sensor (16) fixed on each of these rods (11).
  • the movement axles of the rods (11) ideally have 90° angles between them and the axles fictitiously intersect at a point on the outside of the self-centring sensing device body. This point is more or less the point at which the sensing device will be placed in respect to each reference sphere (3) requiring to be measured.
  • the rods (11), linearly guided by precision guides (13) are pushed by pre-tensioned springs (14) in the direction of the said point.
  • the sensing device tips (12), which have their contact planes perpendicular to the rods (11) maintain contact with said reference sphere (3) if the latter falls within the measuring rank of the self centring sensing device.
  • the rods (11) carry an optical ruler (17) that forms part of a displacement sensor (16) for measuring the rod (11) positions.
  • a reading head (16) set in the self-centring sensing device body forms the other part of this sensor (16, 17).
  • the invention is not dependent on the type of displacement sensor (16, 17). If there is no sphere (3) in the measuring rank, the rods (11) find themselves positioned at their limit, as defined by a mechanical buffer. This outer limit represents position ZERO of the rod (11), at which the counters of the displacement sensor (16, 17) begin.
  • the test described, performed with the self-centring sensing device according to the invention, is economical. The reason for this is because three coordinates are measured at once. Measuring with this sensing device according to the invention is also more accurate.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • A Measuring Device Byusing Mechanical Method (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Inspection Of Paper Currency And Valuable Securities (AREA)
  • Vehicle Body Suspensions (AREA)
  • Seal Device For Vehicle (AREA)
  • Air Bags (AREA)
  • Electronic Switches (AREA)
  • Switches That Are Operated By Magnetic Or Electric Fields (AREA)

Claims (3)

  1. Dreidimensionale selbstzentrierende Erfassungsvorrichtung zur Analyse von relativen Bewegungsfehlern bei Maschinenbauteilen unter Verwendung von Kugeln (3, 33) und zum Analysieren von Positionierfehlern von Maschinen im Vergleich zu Referenzkugelobjekten (3, 33);
    • die mindestens drei Stangen (11) besitzt, die unabhängig voneinander in unterschiedliche Richtungen bewegen können, wobei jede Stange (11) eine Messfühlerspitze (12) hat, mit der sie in ständigem Kontakt mit dem Objekt (3, 33) steht, aufgrund von Federn (14) oder anderen Elementen, welche die erforderliche Kraft aufbringen, um die Stange (11) in die Richtung zu drücken, in der der Kontakt mit dem Objekt (3, 33) erfolgt; und
    • Wegaufnehmer (16, 17) zur Messung der Position jeder Stange (11),
    dadurch gekennzeichnet, dass die Stangen (11) frei beweglich mit einem kegelstumpfförmigen Körper der selbstzentrierenden Erfassungsvorrichtung verbunden sind.
  2. Selbstzentrierende Erfassungsvorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass jede der mindestens drei Stangen (11) eine kugel- zylinder- oder abgeflachte Messfühlerspitze (12) hat, und dass diese Stangen auch entlang ihrer linearen Führungen (13) frei beweglich sind.
  3. Selbstzentrierende Erfassungsvorrichtung nach Anspruch 2, gekennzeichnet durch ein Modell mit mindestens einem der folgenden Parameter:
    • die Position der besagten Messfühlerspitzen (12);
    • die Ausrichtung der besagten Messfühlerspitzen (12);
    • die Position der besagten Stangen (11);
    • die Ausrichtung der besagten Stangen (11);
    • die Position der besagten Wegaufnehmer (16, 17); und
    • die Ausrichtung der besagten Wegaufnehmer (16, 17),
    welche Parameter in einem Computer für die Berechnung der relativen Verschiebungen der Referenzkugel (3, 33) in Bezug auf die selbstzentrierende Erfassungsvorrichtung basierend auf den von besagten Wegaufnehmem (16, 17) gemessenen Positionen gespeichert werden.
EP03743888A 2002-03-13 2003-03-12 Selbstzentrierende erfassungsvorrichtung Expired - Lifetime EP1491287B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP09151334A EP2050534B1 (de) 2002-03-13 2003-03-12 Verfahren zum Prüfen einer Rotationsachse mit einer selbstzentrierenden Messvorrichtung

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
ES200200597 2002-03-13
ES200200597 2002-03-13
PCT/ES2003/000110 WO2003076130A1 (es) 2002-03-13 2003-03-12 Palpador autocentrable

Related Child Applications (1)

Application Number Title Priority Date Filing Date
EP09151334A Division EP2050534B1 (de) 2002-03-13 2003-03-12 Verfahren zum Prüfen einer Rotationsachse mit einer selbstzentrierenden Messvorrichtung

Publications (2)

Publication Number Publication Date
EP1491287A1 EP1491287A1 (de) 2004-12-29
EP1491287B1 true EP1491287B1 (de) 2009-12-02

Family

ID=27799026

Family Applications (2)

Application Number Title Priority Date Filing Date
EP03743888A Expired - Lifetime EP1491287B1 (de) 2002-03-13 2003-03-12 Selbstzentrierende erfassungsvorrichtung
EP09151334A Expired - Lifetime EP2050534B1 (de) 2002-03-13 2003-03-12 Verfahren zum Prüfen einer Rotationsachse mit einer selbstzentrierenden Messvorrichtung

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP09151334A Expired - Lifetime EP2050534B1 (de) 2002-03-13 2003-03-12 Verfahren zum Prüfen einer Rotationsachse mit einer selbstzentrierenden Messvorrichtung

Country Status (6)

Country Link
EP (2) EP1491287B1 (de)
AT (2) ATE528102T1 (de)
AU (1) AU2003209781A1 (de)
DE (1) DE60330324D1 (de)
ES (2) ES2375433T3 (de)
WO (1) WO2003076130A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2390622A1 (de) 2010-05-28 2011-11-30 Dr. Johannes Heidenhain GmbH Messvorrichtung

Families Citing this family (14)

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Publication number Priority date Publication date Assignee Title
EP1737611B1 (de) * 2004-04-08 2008-09-24 Maus S.P.A. Verfahren zur zentrierung von halbzeugen, die maschinell bearbeitet werden sollen
US7971496B2 (en) 2005-03-09 2011-07-05 Franz Ehrenleitner Method for determining the elastic deformation of components
US7412777B2 (en) * 2005-05-20 2008-08-19 Orthosoft Inc. Method and apparatus for calibrating spherical objects using a computer system
CN101694374B (zh) * 2009-10-20 2012-07-04 西安交通大学 燃气轮机叶片精度快速检测装置及其检测方法
CN103862327A (zh) * 2012-12-11 2014-06-18 成都飞机工业（集团）有限责任公司 一种球头球心位置检测方法
CN102962728A (zh) * 2012-12-11 2013-03-13 成都飞机工业（集团）有限责任公司 一种球头球心位置检测装置
EP2835702B1 (de) 2013-08-09 2016-04-27 Siemens Aktiengesellschaft Verfahren zur Vermessung wenigstens einer Rundachse einer Werkzeugmaschine
EP3101384B1 (de) * 2015-06-01 2018-01-03 Ideko, S. Coop Kalibrierungsverfahren zur kalibrierung der antriebsachse einer werkzeugmaschine
CN106054341A (zh) * 2016-05-27 2016-10-26 江南大学 一种光学实验用光具座转台
DE102016226073A1 (de) 2016-12-22 2018-06-28 Deckel Maho Pfronten Gmbh Vorrichtung zum einsatz in einer numerisch gesteuerten werkzeugmaschine zur verwendung in einem verfahren zum vermessen der numerisch gesteuerten werkzeugmaschine
DE102019205145B4 (de) * 2019-04-10 2022-06-15 Carl Zeiss Industrielle Messtechnik Gmbh Ausrichten von Komponenten relativ zu einem Koordinatenmessgerät
CN114234877B (zh) * 2022-02-28 2022-06-14 成都飞机工业（集团）有限责任公司 一种用于R-test仪器的位移传感器矢量标定方法
DE102022112154B3 (de) * 2022-05-16 2023-04-27 Röders Gmbh Messkörper zur Überprüfung von geometrischen Abweichungen einer 3-achsigen Werkzeugmaschine, 3-achsige Werkzeugmaschine und Verfahren zur Kompensation geometrischer Abweichungen einer 3-achsigen Werkzeugmaschine
CN115041971B (zh) * 2022-06-24 2023-06-02 浙江傅氏机械科技有限公司 一种车磨铣复合加工数控机床

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DE2940633C2 (de) * 1979-10-06 1986-01-02 Ernst Leitz Wetzlar Gmbh, 6330 Wetzlar Verfahren zur Bestimmung der Drehachse eines Rundtisches in Mehrkoordinaten-Meßgeräten
DE3637410A1 (de) * 1986-11-03 1988-05-11 Zeiss Carl Fa Verfahren zur messung von drehtischabweichungen
DE19501094A1 (de) 1995-01-16 1996-07-18 Fraunhofer Ges Forschung Verfahren und Vorrichtung zur Kalibrierung von Bewegungseinrichtungen
DE29618726U1 (de) 1996-10-28 1997-02-06 Trapet, Eugen, Dr.-Ing., 38176 Wendeburg Kugelquader
DE19921325A1 (de) * 1998-09-17 2000-03-23 Heidenhain Gmbh Dr Johannes Kalibriervorrichtung für einen parallelkinematischen Manipulator
DE29916325U1 (de) 1999-09-16 2000-01-20 PETEC GmbH, 63839 Kleinwallstadt Vorrichtung zum Einmessen von Parametern an CNC-Bearbeitungsmaschinen
DE19944429C2 (de) 1999-09-16 2001-12-06 Petec Gmbh Vorrichtung zum Einmessen von Parametern an CNC-Bearbeitungsmaschinen
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2390622A1 (de) 2010-05-28 2011-11-30 Dr. Johannes Heidenhain GmbH Messvorrichtung
DE102010029429A1 (de) 2010-05-28 2011-12-01 Dr. Johannes Heidenhain Gmbh Messvorrichtung

Also Published As

Publication number Publication date
ES2375433T3 (es) 2012-02-29
EP2050534A1 (de) 2009-04-22
ES2337673T3 (es) 2010-04-28
ATE528102T1 (de) 2011-10-15
WO2003076130A1 (es) 2003-09-18
ATE450341T1 (de) 2009-12-15
DE60330324D1 (de) 2010-01-14
EP2050534B1 (de) 2011-10-12
AU2003209781A1 (en) 2003-09-22
EP1491287A1 (de) 2004-12-29

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